Humanoid Robot System, HanSaRam-VII for RoboMarathon in HuroCup

This paper presents the recent development of small-sized humanoid robot, HSR (HanSaRam)-VII, which is developed to participate in HuroCup which is one of the game categories of FIRA (www.FIRA.net). As HuroCup is composed of seven kinds of competitions, humanoid robots participating in this league have to be capable of various tasks such as weight lifting, basketball, marathon, etc. HSR-VII is designed to have high degrees of freedom, distributed planner-reactor architecture using PDA and embedded computer. This distributed control architecture includes vision processing, navigation and on-line walking pattern generation algorithm. In addition, time-domain passivity control algorithm is introduced to guarantee the stable walking pattern generation. The performance of the system is demonstrated through the RoboMarathon.